When the polhode rolls on the herpolhode
invariably in the plane,
the forces tend to be free.
When the polhode slips on the herpolhode,
the forces are not mundane,
they're nonholonomic, you see!
Copyright © 1974, 1999 by David N. Williams
There's a Polhode, Inc., which has information on the Purdue Compiler Construction Tool Set, and some physics links.
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